Independently driving wheel module and mounting method thereof

ABSTRACT

An independently driving wheel module includes: a base frame including an upper end fixed to a coupling surface of a vehicle body, and a rotation part coupled to the upper end of the base frame such that the rotation part is rotatable with respect to the upper end of the base frame; a connection link including a first end integrally coupled to the rotation part, and a second end having a shape extending downward from the first end of the connection link; a driving wheel disposed at a side of the second end of the connection link and coupled to the second end of the connection link; and a rotation plate including an upper and lower surfaces extending obliquely in misaligned directions, the rotation plate being interposed between the base frame and the vehicle body so as to be rotatable with respect to the base frame or the vehicle body.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.17/519,856 filed on Nov. 5, 2021, which claims the benefit under 35U.S.C. § 119(a) of Korean Patent Application No. 10-2020-0153702 filedon Nov. 17, 2020 in the Korean Intellectual Property Office, the entiredisclosures of which are incorporated herein by reference for allpurposes.

BACKGROUND Field

The present invention relates to an independently driving wheel moduleand a mounting method thereof and, more particularly, to a driving wheelmodule configured such that each driving wheel is provided with driving,brake, steering, and suspension devices.

Description of the Related Art

A new concept in which a driving wheel of a vehicle is modularized andseparately mounted is being developed for purpose of improving thefreedom of motion of the vehicle and securing battery space in anelectric vehicle (EV), or achieving common use of a vehicle platform.

The new concept independently driving wheel module is assembled to thevehicle body while being provided with driving, brake, steering, andsuspension devices and being modularized.

According to the independently driving wheel module separatelyassembled, various vehicle motions (for example, zero turning, crabsteering, vertical-horizontal traveling, etc.) are possible duringdriving of a vehicle. A platform can be used in common use andsimplified during vehicle development and production.

However, the independently driving wheel module according to the relatedart has a problem in that it is difficult to adjust deviation fordynamic geometry during assembly of the driving wheel module to avehicle body.

The foregoing is intended merely to aid in the understanding of thebackground of the present invention, and is not intended to mean thatthe present invention falls within the purview of the related art thatis already known to those skilled in the art.

SUMMARY

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter.

In one general aspect, an independently driving wheel module includes: abase frame including an upper end fixed to a coupling surface of avehicle body, and a rotation part coupled to the upper end of the baseframe such that the rotation part is rotatable with respect to the upperend of the base frame; a connection link including a first endintegrally coupled to the rotation part, and a second end having a shapeextending downward from the first end of the connection link; a drivingwheel disposed at a side of the second end of the connection link andcoupled to the second end of the connection link; and a rotation plateincluding an upper surface and a lower surface extending obliquely inmisaligned directions, the rotation plate being interposed between thebase frame and the vehicle body so as to be rotatable with respect tothe base frame or the vehicle body.

The rotation plate may be securely coupled to the base frame or thevehicle body such that the rotation plate is rotatable with respect tothe base frame or the vehicle body.

The rotation plate may further include an elongated hole extending alonga path in which the rotation plate is rotatable with respect to the baseframe. The rotation plate may be coupled to the base frame or thevehicle body via the elongated hole.

The base frame may further include a coupling groove that is depresseddownward or inward in the base frame. The rotation plate may be fixed bybeing locked and coupled to the coupling groove while being rotatablycoupled to the base frame.

The upper surface of the rotation plate may extend parallel to thecoupling surface of the vehicle body and the lower surface of therotation plate may extend parallel to an upper surface of the baseframe. The coupling surface of the vehicle body and the upper surface ofthe base frame may be inclined obliquely to each other.

A camber angle or a caster angle of the driving wheel may vary when therotation plate is rotated with respect to the base frame or the vehiclebody.

The driving wheel may include a knuckle coupled to the second end of theconnection link and a hub rotatably coupled to the knuckle. Theindependently driving wheel module may further include a driving devicefixed to the knuckle and operable to rotate the hub on the knuckle.

The driving wheel may include a knuckle coupled to the second end of theconnection link and a hub rotatably coupled to the knuckle. The knucklemay be coupled to the second end of the connection link so as to allowrelative movement of the knuckle in a vertical direction with respect tothe connection link.

The independently driving wheel module may further include couplinglinks disposed to be vertically spaced apart from each other, thecoupling links including respective first ends rotatably coupled to thesecond end of the connection link, and respective second ends rotatablycoupled to the knuckle.

The independently driving wheel module may further include a suspensiondevice including a first end coupled to the connection link and a secondend connected to the driving wheel, the suspension device beingconfigured to absorb vertical vibration of the driving wheel.

The independently driving wheel module may further include: a steeringdevice including a first end securely coupled to the upper end of thebase frame, the steering device being configured to rotate the rotationpart or the connection link on the first end of the steering device as acenter of rotation.

In another general aspect, a method of mounting an independently drivingwheel module includes: interposing a rotation plate between a base frameand a vehicle body and fixing an upper end of the base frame to acoupling surface of the vehicle body, such that the rotation plate isrotatable with respect to the base frame or the vehicle body; rotatingthe rotation plate with respect to the base frame or the vehicle body;and securely coupling the rotation plate to the base frame or thevehicle body. The base frame includes a rotation part coupled to theupper end of the base frame such that the rotation part is rotatablewith respect to the upper end of the base frame. The rotation plateincludes an upper surface and a lower surface extending obliquely inmisaligned directions. The independently driving wheel module comprises:the rotation plate; the base frame; a connection link including a firstend integrally coupled to the rotation part, and a second end having ashape extending downward from the first end of the connection link; anda driving wheel disposed at a side of the second end of the connectionlink and coupled to the second end of the connection link.

The method may further include: after the interposing the rotationplate, primarily coupling the base frame to the vehicle body so as toprevent rotation of the base frame with respect to the vehicle body.

In the rotating of the rotation plate, the rotation plate may be rotatedwith respect to the base frame or the vehicle body so as to change acamber angle or a caster angle of the driving wheel.

The securely coupling of the rotation plate may include securelycoupling the rotation plate to the base frame or the vehicle body byplastically deforming the rotation plate.

Other features and aspects will be apparent from the following detaileddescription, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objectives, features, and other advantages of thepresent invention will be more clearly understood from the followingdetailed description when taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 is a perspective view showing an independently driving wheelmodule according to an embodiment of the present invention.

FIG. 2 is a front view showing the independently driving wheel moduleaccording to the embodiment of the present invention.

FIG. 3 is an enlarged view showing the independently driving wheelmodule according to the embodiment of the present invention.

FIG. 4 is an enlarged view showing a rotation plate according to theembodiment of the present invention.

FIG. 5 is an enlarged view showing the rotation plate and a base framein a coupled state according to the embodiment of the present invention.

FIGS. 6 to 7 are views respectively showing a camber angle and a casterangle of the driving wheel according to the embodiment of the presentinvention.

FIG. 8 is a flowchart showing a mounting method of the independentlydriving wheel module according to an embodiment of the presentinvention.

DETAILED DESCRIPTION

In the following description, the structural or functional descriptionspecified to exemplary embodiments according to the concept of thepresent invention is intended to describe the exemplary embodiments, soit should be understood that the present invention may be variouslyembodied, without being limited to the exemplary embodiments.

Embodiments described herein may be changed in various ways and variousshapes, so specific embodiments are shown in the drawings and will bedescribed in detail in this specification.

However, it should be understood that the exemplary embodimentsaccording to the concept of the present invention are not limited to theembodiments which will be described hereinbelow with reference to theaccompanying drawings, but all of modifications, equivalents, andsubstitutions are included in the scope and spirit of the invention.

It will be understood that, although the terms first and/or second, etc.may be used herein to describe various elements, these elements shouldnot be limited by these terms. These terms are only used to distinguishone element, from another element. For instance, a first elementdiscussed below could be termed a second element without departing fromthe teachings of the present invention. Similarly, the second elementcould also be termed the first element.

It is to be understood that when one element is referred to as being“connected to” or “coupled to” another element, it may be connecteddirectly to or coupled directly to another element or be connected to orcoupled to another element, having the other element interveningtherebetween. On the other hand, it is to be understood that when oneelement is referred to as being “connected directly to” or “coupleddirectly to” another element, it may be connected to or coupled toanother element without the other element intervening therebetween.Further, the terms used herein to describe a relationship betweenelements, that is, “between”, “directly between”, “adjacent” or“directly adjacent” should be construed in the same manner.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to limit the present invention.Singular forms are intended to include plural forms unless the contextclearly indicates otherwise. It will be further understood that theterms “comprises” or “have” used in this specification, specify thepresence of stated features, steps, operations, components, parts, or acombination thereof, but do not preclude the presence or addition of oneor more other features, numerals, steps, operations, components, parts,or a combination thereof.

Unless otherwise defined, all terms including technical and scientificterms used herein have the same meaning as commonly understood by thoseskilled in the art to which the present invention belongs. It must beunderstood that the terms defined by the dictionary are identical withthe meanings within the context of the related art, and they should notbe ideally or excessively formally defined unless the context clearlydictates otherwise.

Hereinbelow, preferred embodiments of the present invention will bedescribed in detail with reference to accompanying drawings. Likereference numerals given in the drawings indicate like components.

FIG. 1 is a perspective view showing an independently driving wheelmodule according to an embodiment of the present invention. FIG. 2 is afront view showing the independently driving wheel module according tothe embodiment of the present invention. FIG. 3 is an enlarged viewshowing the independently driving wheel module according to theembodiment of the present invention.

Referring to FIGS. 1 to 3 , the independently driving wheel moduleaccording to the embodiment of the present invention includes: a baseframe 100 having an upper end fixed to a coupling surface of a vehiclebody F, and having a rotation part 110 coupled to the upper end to berelatively rotatable with respect to the upper end; a connection link200 of which a first end is integrally coupled to the rotation part 110of the base frame 100, and a second end has a shape extending downwardfrom the first end thereof; a driving wheel 300 located at a side of thesecond end of the connection link 200 and coupled to the second end ofthe connection link 200; and a rotation plate 800 of which an uppersurface and a lower surface extend obliquely in misaligned directions,the rotation plate 800 being interposed between the base frame 100 andthe vehicle body F so as to be relatively rotatable with respect to thebase frame 100 or the vehicle body F.

The vehicle body F may be a main body frame of a vehicle. As anotherembodiment, the vehicle body F may include all equipment that may beequipped with the driving wheel 300, such as robots, transport devices,etc.

The coupling surface of the vehicle body F may be located at a pluralityof locations provided on the vehicle body F. Specifically, the couplingsurfaces may be four coupling surfaces located on the front left andright of the vehicle body F and on the rear left and right of thevehicle body F. According to the embodiment of the present invention,the independently driving wheel module may be separately mounted eachcorner of the vehicle.

The base frame 100 is located below the coupling surface of the vehiclebody F. The upper end of the base frame 100 may be securely fixed to thecoupling surface of the vehicle body F. As an embodiment, the upper endof the base frame 100 may be bolted to the coupling surface of thevehicle body F.

The base frame 100 may include the rotation part 110 that is coupled tothe upper end in a relatively rotatable manner. As the embodiment, therotation part 110 may be rotatable on a shaft that extends in a verticaldirection or a direction perpendicular to the coupling surface of thevehicle body F.

The rotation part 110 of the base frame 100 is relatively rotated on theupper end of the base frame 100 coupled to the coupling surface of thevehicle body F. Accordingly, the driving wheel 300 may be steered whilebeing rotated on the vehicle body F.

The connection link 200 may connect the driving wheel 300 to the baseframe 100. The first end of the connection link 200 is integrallycoupled to the rotation part 110 of the base frame 100. As the rotationpart 110 is rotated, the first end of the connection link 200 may alsobe rotated with the rotation part 110. The second end of the connectionlink 200 may extend downward so as to be located at a side of thedriving wheel 300.

The driving wheel 300 is located at the side of the second end of theconnection link 200 and may be coupled to the second end of theconnection link 200. As described below, the driving wheel 300 includesa separate driving device 700. The driving device 700 may rotate thedriving wheel 300 on the second end of the connection link 200.

The rotation plate 800 may include the upper and lower surfaces thatextend obliquely in the misaligned directions. The upper surface of therotation plate 800 may be in planar-contact with the coupling surface ofthe vehicle body F and the lower surface thereof may be inplanar-contact with the upper surface of the base frame 100.

The rotation plate 800 may be interposed between the base frame 100 andthe vehicle body F and may be coupled to the base frame 100 or thevehicle body F in the relatively rotatable manner. Therefore, as therotation plate 800 having the upper and lower surfaces that areobliquely biased from each other is relatively rotated on the base frame100 or the vehicle body F, an angle at which the base frame 100 iscoupled to the vehicle body F may vary.

With the structure of the rotation plate 800, while the independentlydriving wheel module is primarily assembled to the vehicle body F, acamber angle and a caster angle may be adjusted.

Therefore, an angle at which the base frame 100 is coupled to thevehicle body F may be adjusted by rotating the rotation plate 800 thathas the upper and lower surfaces extending obliquely between the baseframe 100 and the vehicle body F.

The rotation plate 800 is located between the base frame 100 and thevehicle body F and is coupled to the base frame 100 or the vehicle bodyF in the relatively rotatable manner. While the rotation plate 800 iscoupled to the base frame 100 or the vehicle body F in the relativelyrotatable manner, the rotation plate 800 may be securely coupled to thebase frame 100 to the vehicle body F.

In detail, the rotation plate 800 is interposed between the base frame100 and the vehicle body F, and is primarily coupled to the base frame100 or the vehicle body F in the relatively rotatable manner. Afterangle adjustment is completed by rotation of the rotation plate 800, therotation plate 800 may be securely coupled to the base frame 100 or thevehicle body F while being in coupled state in the relatively rotatablemanner.

FIG. 4 is an enlarged view showing the rotation plate 800 according tothe embodiment of the present invention. FIG. 5 is an enlarged viewshowing the rotation plate 800 and the base frame 100 in a coupled stateaccording to the embodiment of the present invention.

Referring to FIGS. 4 and 5 , the rotation plate 800 has a long hole 810extending along a path that is relatively rotated with respect to thebase frame 100. The rotation plate 800 may be coupled to the base frame100 or the vehicle body F in the relatively rotatable manner via thelong hole 810.

As the embodiment, the base frame 100 is bolted to the vehicle body F bya bolt extending in a longitudinal direction thereof, and the bolt mayextend to penetrate the rotation plate 800 interposed between the baseframe 100 and the vehicle body F. Specifically, the bolt may be coupledto the base frame 100 and the vehicle body F while passing through thelong hole 810 of the rotation plate 800. The rotation plate 800 may berelatively rotatable with respect to the base frame 100 or the vehiclebody F along the long hole 810.

In addition, the base frame 100 has a coupling groove 120 that isdepressed downward or inward. The rotation plate 800 may be fixed bybeing locked and coupled to the coupling groove 120 while beingrotatably coupled to the base frame 100.

The base frame 100 has the coupling groove 120 that penetrates the basedframe or is depressed thereon. The rotation plate 800 may be fixed whilebeing locked and coupled to the coupling groove 120.

As an embodiment, the base frame 100 has the coupling groove 120 that isdepressed inward of the base frame or depressed downward from the uppersurface thereof in contact with the rotation plate 800. As the rotationplate 800 is projected inward of the coupling groove 120 by plasticdeformation (caulking, etc.), the rotation plate 800 may be locked andcoupled to the coupling groove 120.

While the rotation plate 800 is primarily coupled to the base frame 100or the vehicle body F to be rotatable, the rotation plate 800 may befinally coupled to the base frame 100 or the vehicle body F so as toprevent relative rotation as the rotation plate 800 is plasticallydeformed to be projected toward the coupling groove 120 of the baseframe 100.

As an embodiment, the rotation plate 800 may be formed of a metalmaterial such as aluminum, and the upper and lower surfaces of therotation plate 800 may be processed in a knurling manner. Accordingly,when the rotation plate 800 is finally coupled to the base frame 100 andthe vehicle body F, relative rotation therebetween can be prevented.

The upper surface of the rotation plate 800 extends parallel to thecoupling surface of the vehicle body F and the lower surface thereofextends parallel to the upper surface of the base frame 100. Thecoupling surface of the vehicle body F and the upper surface of the baseframe 100 may be inclined obliquely.

Specifically, the upper surface and the lower surface of the rotationplate 800 may extend in diagonal directions from each other instead ofbeing parallel to each other. The upper surface of the rotation plate800 may extend parallel to the coupling surface of the vehicle body F tobe in planar-contact therewith. The lower surface of the rotation plate800 may extend parallel to the upper surface of the base frame 100 to bein planar contact therewith.

Accordingly, the upper surface of the base frame 100 diagonally extendsin a non-parallel direction to the coupling surface of the vehicle bodyF, whereby the camber angle or the caster angle of the driving wheel 300may be generated.

FIGS. 6 to 7 are views respectively showing the camber angle and thecaster angle of the driving wheel 300 according to the embodiment of thepresent invention.

Referring to FIGS. 6 and 7 , the rotation plate 800 may change thecamber angle or the caster angle of the driving wheel 300 by beingrelatively rotated with respect to the base frame 100 or the vehiclebody F.

As an embodiment, as the rotation plate 800 with the upper and lowersurfaces that extend in the diagonal directions from each other isrelatively rotated with respect to the base frame 100 or the vehiclebody F, the angle at which the base frame 100 is coupled to the couplingsurface of the vehicle body F may be adjusted. Therefore, the camberangle and the caster angle of the driving wheel 300 coupled to the baseframe 100 may vary at the same time.

The driving wheel 300 may include a knuckle 310 coupled to the secondend of the connection link 200 and a hub rotatably coupled to theknuckle 310. The independently driving wheel module may include: thedriving device 700 fixed to the knuckle 310 and rotating the hub on theknuckle 310 when the driving device is operated.

The knuckle 310 is coupled to the second end of the connection link 200,and as described below, the knuckle 310 may be rotatably coupled to thesecond end of the connection link 200. The hub may be rotatably coupledto the knuckle 310, and the hub may be rotated in a grounded state withthe ground through a tire or the like.

The driving device 700 may be an in-wheel motor, and may be securelycoupled to the knuckle 310 to apply a rotation force to the hub when thedriving device is operated.

The driving wheel 300 includes the knuckle 310 coupled to the second endof the connection link 200 and the hub rotatably coupled to the knuckle310. The knuckle 310 may be coupled to the second end of the connectionlink 200 so as to allow relative movement in a vertical direction withrespect to the second end of the connection link 200.

The knuckle 310 may be rotatably coupled to the second end of theconnection link 200. As the knuckle 310 is rotatably coupled to thesecond end of the connection link 200, the knuckle 310 may be relativelymoved upward and downward with respect to the second end of theconnection link 200.

More specifically, the independently driving wheel module may include: aplurality of coupling links 400 that are disposed to be verticallyspaced apart from each other, of which each first end is rotatablycoupled to the second end of the connection link 200, and of which eachsecond end is rotatably coupled to the knuckle 310.

The plurality of coupling links 400 extends in a longitudinal directionaccording to a forward direction in which the driving wheel 300 travelsby rotation thereof, and may be disposed to be spaced apart from eachother in a vertical direction. Furthermore, the plurality of couplinglinks 400 is rotatably coupled to, at a first end thereof, to the secondend of the connection link 200 while being spaced apart from each other,and the second end of the plurality of the coupling links may berotatably coupled to the knuckle 310.

The connection link 200 and the knuckle 310 may provide a 4-bar linkagestructure due to the plurality of coupling links 400, whereby theknuckle 310 may be moved upward and downward with respect to the secondend of the connection link 200.

The independently driving wheel module may include: a suspension device500 of which a first end is coupled to the connection link 200 and asecond end is connected to the driving wheel 300, the suspension device500 absorbing vertical vibration of the driving wheel 300.

The suspension device 500 may be a shock absorber. The first end of thesuspension device 500 may be securely coupled to the connection link 200and the second end thereof may be rotatably coupled to the knuckle 310or the plurality of coupling links 400.

As an embodiment, the second end of the suspension device 500 maypenetrate an upper coupling link 400 of the plurality of coupling links400 and be rotatably coupled to a lower coupling link 400 thereof.

The independently driving wheel module may include: a steering device600 of which a first end is securely coupled to the upper end of thebase frame 100, the steering device 600 configured to rotate therotation part 110 or the connection link 200 with respect to the firstend thereof.

The steering device 600 may be a separate motor as the driving device700. The steering device 600 may rotate the rotation part 110 or theconnection link 200 with respect to the upper end of the base frame 100securely coupled to the vehicle body F. The steering device 600 isintegrally coupled to the rotation part 110 or the connection link 200.The steering device 600 may be rotated on the first end thereof fixed tothe vehicle body F.

Specifically, the first end of the steering device 600 is connected tothe upper end of the base frame 100 with a gear, thereby increasingsteering torque.

FIG. 8 is a flowchart showing a mounting method of the independentlydriving wheel module according to an embodiment of the presentinvention.

Referring to FIG. 8 , as a method of mounting the independently drivingwheel module, the mounting method of the independently driving wheelmodule according to an embodiment of the present invention includes:interposing the rotation plate 800 between the base frame 100 and thevehicle body F in the relative rotatable manner with respect to the baseframe 100 or the vehicle body F at S100; relatively rotating therotation plate 800 with respect to the base frame 100 or the vehiclebody F at S300; and securely coupling the rotation plate 800 to the baseframe 100 or the vehicle body F at S400.

After the interposing the rotation plate 800 at S100, the mountingmethod may include: primarily coupling the base frame 100 to the vehiclebody F at S200 so as to prevent relative rotation.

In the relatively rotating the rotation plate 800 at S300, the rotationplate 800 obliquely inclined may be relatively rotated with respect tothe base frame 100 or the vehicle body F so as to change the camberangle or the caster angle of the driving wheel 300.

In the securely coupling the rotation plate 800 at S400, the rotationplate 800 may be securely coupled to the base frame 100 or the vehiclebody F by being plastically deformed.

Although the preferred embodiments of the present invention have beendisclosed for illustrative purposes, those skilled in the art willappreciate that various modifications, additions and substitutions arepossible, without departing from the spirit and scope of the presentinvention.

What is claimed is:
 1. An independently driving wheel module,comprising: a base frame disposed at a lower surface of a vehicle body;a connection link including a first end integrally coupled to therotation part, and a second end having a shape extending downward fromthe first end of the connection link; a driving wheel disposed at a sideof the second end of the connection link and coupled to the second endof the connection link; and a rotation plate including an upper surfaceand a lower surface extending obliquely in misaligned directions, therotation plate varies a camber angle or a caser angle of a drive wheelby being relatively rotated in a state interposed between the base frameand the vehicle body.
 2. The independently driving wheel module of claim1, wherein the lower surface of the rotation plate being coupled to anupper surface of the upper end of the base frame opposite the lowersurface of the upper end of the base frame.
 3. The independently drivingwheel module of claim 1, wherein the base frame including an upper endfixed to a coupling surface of a vehicle body, and a rotation partcoupled to a lower surface of the upper end of the base frame such thatthe rotation part is rotatable with respect to the upper end of the baseframe;
 4. The independently driving wheel module of claim 1, wherein therotation plate is securely coupled to the base frame or the vehicle bodysuch that the rotation plate is rotatable with respect to the base frameor the vehicle body.
 5. The independently driving wheel module of claim4, wherein the rotation plate further includes an elongated holeextending along a path in which the rotation plate is rotatable withrespect to the base frame, and wherein the rotation plate is coupled tothe base frame or the vehicle body via the elongated hole.
 6. Theindependently driving wheel module of claim 4, wherein the base framefurther includes a coupling groove that is depressed downward or inwardin the base frame, and wherein the rotation plate is fixed by beinglocked and coupled to the coupling groove while being rotatably coupledto the base frame.
 7. The independently driving wheel module of claim 1,wherein the upper surface of the rotation plate extends parallel to thecoupling surface of the vehicle body and the lower surface of therotation plate extends parallel to an upper surface of the base frame,and wherein the coupling surface of the vehicle body and the uppersurface of the base frame are inclined obliquely to each other.
 8. Theindependently driving wheel module of claim 1, wherein the driving wheelcomprises a knuckle coupled to the second end of the connection link anda hub rotatably coupled to the knuckle, and wherein the independentlydriving wheel module further comprises a driving device fixed to theknuckle and operable to rotate the hub on the knuckle.
 9. Theindependently driving wheel module of claim 1, wherein the driving wheelcomprises a knuckle coupled to the second end of the connection link anda hub rotatably coupled to the knuckle, and wherein the knuckle iscoupled to the second end of the connection link so as to allow relativemovement of the knuckle in a vertical direction with respect to theconnection link.
 10. The independently driving wheel module of claim 9,further comprising: coupling links disposed to be vertically spacedapart from each other, the coupling links including respective firstends rotatably coupled to the second end of the connection link, andrespective second ends rotatably coupled to the knuckle.
 11. Theindependently driving wheel module of claim 1, further comprising: asuspension device including a first end coupled to the connection linkand a second end connected to the driving wheel, the suspension devicebeing configured to absorb vertical vibration of the driving wheel. 12.The independently driving wheel module of claim 1, further comprising: asteering device including a first end securely coupled to the upper endof the base frame, the steering device being configured to rotate therotation part or the connection link on the first end of the steeringdevice as a center of rotation.
 13. A method of mounting anindependently driving wheel module, the method comprising: interposing arotation plate between a base frame and a vehicle body and fixing anupper end of the base frame to a coupling surface of the vehicle body,such that the rotation plate is rotatable with respect to the base frameor the vehicle body; rotating the rotation plate with respect to thebase frame or the vehicle body; and securely coupling the rotation plateto the base frame or the vehicle body, wherein the base frame disposedat a lower surface of a vehicle module, wherein the rotation plateincludes an upper surface and a lower surface extending obliquely inmisaligned directions, and wherein the independently driving wheelmodule comprises: the rotation plate; the base frame; a connection linkincluding a first end integrally coupled to the rotation part, and asecond end having a shape extending downward from the first end of theconnection link; and a driving wheel disposed at a side of the secondend of the connection link and coupled to the second end of theconnection link, wherein, in the rotating of the rotation plate, therotation plate is rotated with respect to the base frame or the vehiclebody so as to change a camber angle or a caster angle of the drivingwheel.
 14. The method of claim 13, wherein the lower surface of therotation plate being coupled to an upper surface of the upper end of thebase frame opposite the lower surface of the upper end of the baseframe.
 15. The method of claim 13, wherein the base frame includes arotation part coupled to a lower surface of the upper end of the baseframe such that the rotation part is rotatable with respect to the upperend of the base frame.
 16. The method of claim 13, further comprising:after the interposing the rotation plate, primarily coupling the baseframe to the vehicle body so as to prevent rotation of the base framewith respect to the vehicle body.
 17. The method of claim 13, whereinthe securely coupling of the rotation plate comprises securely couplingthe rotation plate to the base frame or the vehicle body by plasticallydeforming the rotation plate.